Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 23:49:00 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

Adding elevation control. tested on beth. need to address shortcomings of estimator (no rotations taken into account) and controller (cos of elevation angle not taken into account of thrust)

Browse Source
This commit is contained in:
Paul Cox
2010-08-06 16:48:05 +00:00
parent 36d641802c
commit 87079e2a1b
7 changed files with 159 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/Poine/beth.xml
+3 -3
View File
@@ -29,8 +29,8 @@
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value=" 1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="31288"/>
<define name="GYRO_Q_NEUTRAL" value="32593"/>
@@ -215,7 +215,7 @@ SRC_FMS=fms
main_overo.ARCHDIR = omap
main_overo.CFLAGS = -I. -I$(SRC_FMS)
main_overo.srcs = $(SRC_BETH)/main_overo.c
main_overo.CFLAGS += -DFMS_PERIODIC_FREQ=500
main_overo.CFLAGS += -DFMS_PERIODIC_FREQ=512
main_overo.srcs += $(SRC_FMS)/fms_periodic.c
main_overo.srcs += $(SRC_FMS)/fms_serial_port.c
main_overo.LDFLAGS += -lrt